This is the central repo that holds the mechanical parts for GELLO. See the website for the paper and other resources for GELLO.

If you have already built your GELLO, please see the gello_software repo for software setup and usage.

Organization

Currently we support 7 robot types. The 3 from the original paper:

• Franka FER (from Franka Robotics)
• UR5 (from Universal Robotics)
• xArm7 (from uFactory)

And 3 from community contributions:

• YAM (from I2RT). Contributed by Jeffrey Liu and Hardik Maheshwari.
• Lite6 (from uFactory). The lite6 design is contributed from EL2031watson. See the instructions here.
• AR4 (from Annin Robotics) contributed by @adob. See instructions here.
• FR3 and FR3 Duo (from and contributed by Franka Robotics). See instructions here

Each robot has its own folder, with its own robot specific parts. The gripper files are in its own folder, which is shared across robots. The stls can be printed directly. See the assembly instructions for more detailed instructions.

• franka_fer: contains Franka FER specific parts
• franka_fr3: contains Franka FR3 and FR3 Duo specific parts
• ur5: contains UR5 specific parts
• xarm7: contains xArm7 specific parts
• yam: contains YAM (Yet Another Manipulator) specific parts
• lite6: contains Lite6 specific parts and instructions.
• ar4: contains AR4 specific parts
• gripper: contains the parts for the gripper, which is also shared across robots

Bill of Materials (BOM) and Assembly Instructions

The BOM and instructions for assembly can be found here: BOM and Assembly Instructions

Notes

If you would like access to the CAD files, please contact me at phil80301[at]berkeley[dot]edu . If you run into any issues during assembly, please open a github issue.

Contribution

If you have made any improvements to GELLO or made designs for a new robot, please contribute by making a pull request!

Citation

@misc{wu2023gello,
    title={GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators},
    author={Philipp Wu and Yide Shentu and Zhongke Yi and Xingyu Lin and Pieter Abbeel},
    year={2023},
}